/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/******************************************************************************
 * This project provides two demo applications.  A simple blinky style project,
 * a more comprehensive test and demo application.
 * The mainSELECTED_APPLICATION setting is used to select between
 * the three
 *
 * If mainSELECTED_APPLICATION = BLINKY_DEMO the simple blinky demo will be built.
 * The simply blinky demo is implemented and described in main_blinky.c.
 *
 * If mainSELECTED_APPLICATION = FULL_DEMO the more comprehensive test and demo
 * application built. This is implemented and described in main_full.c.
 *
 * This file implements the code that is not demo specific, including the
 * hardware setup and FreeRTOS hook functions.
 *
 *******************************************************************************
 * NOTE: Linux will not be running the FreeRTOS demo threads continuously, so
 * do not expect to get real time behaviour from the FreeRTOS Linux port, or
 * this demo application.  Also, the timing information in the FreeRTOS+Trace
 * logs have no meaningful units.  See the documentation page for the Linux
 * port for further information:
 * https://freertos.org/FreeRTOS-simulator-for-Linux.html
 *
 *******************************************************************************
 */

/* Standard includes. */
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <stdarg.h>
#include <signal.h>
#include <string.h>
#include <errno.h>
#include <sys/select.h>
#include <time.h>

/* FreeRTOS kernel includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Local includes. */
#include "console.h"

#if ( projENABLE_TRACING == 1 )
    #include <trcRecorder.h>
#endif

#define    BLINKY_DEMO    0
#define    FULL_DEMO      1

#ifdef BUILD_DIR
    #define BUILD         BUILD_DIR
#else
    #define BUILD         "./"
#endif

/* Demo type is passed as an argument */
#ifdef USER_DEMO
    #define     mainSELECTED_APPLICATION    USER_DEMO
#else /* Default Setting */
    #define    mainSELECTED_APPLICATION     FULL_DEMO
#endif

/* This demo uses heap_3.c (the libc provided malloc() and free()). */

/*-----------------------------------------------------------*/

extern void main_blinky( void );
extern void main_full( void );
static void traceOnEnter( void );

/*
 * Only the comprehensive demo uses application hook (callback) functions.  See
 * https://www.FreeRTOS.org/a00016.html for more information.
 */
void vFullDemoTickHookFunction( void );
void vFullDemoIdleFunction( void );

/*
 * Prototypes for the standard FreeRTOS application hook (callback) functions
 * implemented within this file.  See http://www.freertos.org/a00016.html .
 */
void vApplicationMallocFailedHook( void );
void vApplicationIdleHook( void );
void vApplicationStackOverflowHook( TaskHandle_t pxTask,
                                    char * pcTaskName );
void vApplicationTickHook( void );
void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
                                    StackType_t ** ppxIdleTaskStackBuffer,
                                    configSTACK_DEPTH_TYPE * pulIdleTaskStackSize );
void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
                                     StackType_t ** ppxTimerTaskStackBuffer,
                                     configSTACK_DEPTH_TYPE * pulTimerTaskStackSize );

#if ( projENABLE_TRACING == 1 )

    /*
     * Writes trace data to a disk file when the trace recording is stopped.
     * This function will simply overwrite any trace files that already exist.
     */
    static void prvSaveTraceFile( void );

#endif /* if ( projENABLE_TRACING == 1 ) */

/*
 * Signal handler for Ctrl_C to cause the program to exit, and generate the
 * profiling info.
 */
static void handle_sigint( int signal );

/*-----------------------------------------------------------*/

/* When configSUPPORT_STATIC_ALLOCATION is set to 1 the application writer can
 * use a callback function to optionally provide the memory required by the idle
 * and timer tasks.  This is the stack that will be used by the timer task.  It is
 * declared here, as a global, so it can be checked by a test that is implemented
 * in a different file. */
StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];

/*-----------------------------------------------------------*/

int main( void )
{
    /* SIGINT is not blocked by the posix port */
    signal( SIGINT, handle_sigint );

    #if ( projENABLE_TRACING == 1 )
    {
        /* Initialise the trace recorder.  Use of the trace recorder is optional.
         * See http://www.FreeRTOS.org/trace for more information. */
        vTraceEnable( TRC_START );

        /* Start the trace recording - the recording is written to a file if
         * configASSERT() is called. */
        printf( "\r\nTrace started.\r\nThe trace will be dumped to disk if a call to configASSERT() fails.\r\n" );

        #if ( TRACE_ON_ENTER == 1 )
            printf( "\r\nThe trace will be dumped to disk if Enter is hit.\r\n" );
        #endif /* if ( TRACE_ON_ENTER == 1 ) */
    }
    #endif /* if ( projENABLE_TRACING == 1 ) */

    console_init();
    #if ( mainSELECTED_APPLICATION == BLINKY_DEMO )
    {
        console_print( "Starting echo blinky demo\n" );
        main_blinky();
    }
    #elif ( mainSELECTED_APPLICATION == FULL_DEMO )
    {
        console_print( "Starting full demo\n" );
        main_full();
    }
    #else
    {
        #error "The selected demo is not valid"
    }
    #endif /* if ( mainSELECTED_APPLICATION ) */

    return 0;
}

/*-----------------------------------------------------------*/

void vApplicationMallocFailedHook( void )
{
    /* vApplicationMallocFailedHook() will only be called if
     * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h.  It is a hook
     * function that will get called if a call to pvPortMalloc() fails.
     * pvPortMalloc() is called internally by the kernel whenever a task, queue,
     * timer or semaphore is created.  It is also called by various parts of the
     * demo application.  If heap_1.c, heap_2.c or heap_4.c is being used, then the
     * size of the    heap available to pvPortMalloc() is defined by
     * configTOTAL_HEAP_SIZE in FreeRTOSConfig.h, and the xPortGetFreeHeapSize()
     * API function can be used to query the size of free heap space that remains
     * (although it does not provide information on how the remaining heap might be
     * fragmented).  See http://www.freertos.org/a00111.html for more
     * information. */
    vAssertCalled( __FILE__, __LINE__ );
}

/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
    /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
     * to 1 in FreeRTOSConfig.h.  It will be called on each iteration of the idle
     * task.  It is essential that code added to this hook function never attempts
     * to block in any way (for example, call xQueueReceive() with a block time
     * specified, or call vTaskDelay()).  If application tasks make use of the
     * vTaskDelete() API function to delete themselves then it is also important
     * that vApplicationIdleHook() is permitted to return to its calling function,
     * because it is the responsibility of the idle task to clean up memory
     * allocated by the kernel to any task that has since deleted itself. */


    usleep( 15000 );
    traceOnEnter();

    #if ( mainSELECTED_APPLICATION == FULL_DEMO )
    {
        /* Call the idle task processing used by the full demo.  The simple
         * blinky demo does not use the idle task hook. */
        vFullDemoIdleFunction();
    }
    #endif
}

/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( TaskHandle_t pxTask,
                                    char * pcTaskName )
{
    ( void ) pcTaskName;
    ( void ) pxTask;

    /* Run time stack overflow checking is performed if
     * configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook
     * function is called if a stack overflow is detected.  This function is
     * provided as an example only as stack overflow checking does not function
     * when running the FreeRTOS POSIX port. */
    vAssertCalled( __FILE__, __LINE__ );
}

/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
    /* This function will be called by each tick interrupt if
    * configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h.  User code can be
    * added here, but the tick hook is called from an interrupt context, so
    * code must not attempt to block, and only the interrupt safe FreeRTOS API
    * functions can be used (those that end in FromISR()). */

    #if ( mainSELECTED_APPLICATION == FULL_DEMO )
    {
        vFullDemoTickHookFunction();
    }
    #endif /* mainSELECTED_APPLICATION */
}

/*-----------------------------------------------------------*/

void traceOnEnter( void )
{
    #if ( TRACE_ON_ENTER == 1 )
        int xReturn;
        struct timeval tv = { 0L, 0L };
        fd_set fds;

        FD_ZERO( &fds );
        FD_SET( STDIN_FILENO, &fds );

        xReturn = select( STDIN_FILENO + 1, &fds, NULL, NULL, &tv );

        if( xReturn > 0 )
        {
            #if ( projENABLE_TRACING == 1 )
            {
                prvSaveTraceFile();
            }
            #endif /* if ( projENABLE_TRACING == 1 ) */

            /* clear the buffer */
            char buffer[ 1 ];
            read( STDIN_FILENO, &buffer, 1 );
        }
    #endif /* if ( TRACE_ON_ENTER == 1 ) */
}

/*-----------------------------------------------------------*/

void vLoggingPrintf( const char * pcFormat,
                     ... )
{
    va_list arg;

    va_start( arg, pcFormat );
    vprintf( pcFormat, arg );
    va_end( arg );
}

/*-----------------------------------------------------------*/

void vApplicationDaemonTaskStartupHook( void )
{
    /* This function will be called once only, when the daemon task starts to
     * execute (sometimes called the timer task).  This is useful if the
     * application includes initialisation code that would benefit from executing
     * after the scheduler has been started. */
}

/*-----------------------------------------------------------*/

void vAssertCalled( const char * const pcFileName,
                    unsigned long ulLine )
{
    static BaseType_t xPrinted = pdFALSE;
    volatile uint32_t ulSetToNonZeroInDebuggerToContinue = 0;

    /* Called if an assertion passed to configASSERT() fails.  See
     * https://www.FreeRTOS.org/a00110.html#configASSERT for more information. */

    /* Parameters are not used. */
    ( void ) ulLine;
    ( void ) pcFileName;


    taskENTER_CRITICAL();
    {
        /* Stop the trace recording. */
        if( xPrinted == pdFALSE )
        {
            xPrinted = pdTRUE;

            #if ( projENABLE_TRACING == 1 )
            {
                prvSaveTraceFile();
            }
            #endif /* if ( projENABLE_TRACING == 0 ) */
        }

        /* You can step out of this function to debug the assertion by using
         * the debugger to set ulSetToNonZeroInDebuggerToContinue to a non-zero
         * value. */
        while( ulSetToNonZeroInDebuggerToContinue == 0 )
        {
            __asm volatile ( "NOP" );
            __asm volatile ( "NOP" );
        }
    }
    taskEXIT_CRITICAL();
}

/*-----------------------------------------------------------*/

#if ( projENABLE_TRACING == 1 )

    static void prvSaveTraceFile( void )
    {
        FILE * pxOutputFile;

        vTraceStop();

        pxOutputFile = fopen( "Trace.dump", "wb" );

        if( pxOutputFile != NULL )
        {
            fwrite( RecorderDataPtr, sizeof( RecorderDataType ), 1, pxOutputFile );
            fclose( pxOutputFile );
            printf( "\r\nTrace output saved to Trace.dump\r\n" );
        }
        else
        {
            printf( "\r\nFailed to create trace dump file\r\n" );
        }
    }

#endif /* if ( projENABLE_TRACING == 1 ) */

/*-----------------------------------------------------------*/

/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
 * implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
 * used by the Idle task. */
void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
                                    StackType_t ** ppxIdleTaskStackBuffer,
                                    configSTACK_DEPTH_TYPE * pulIdleTaskStackSize )
{
    /* If the buffers to be provided to the Idle task are declared inside this
     * function then they must be declared static - otherwise they will be allocated on
     * the stack and so not exists after this function exits. */
    static StaticTask_t xIdleTaskTCB;
    static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];

    /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
     * state will be stored. */
    *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;

    /* Pass out the array that will be used as the Idle task's stack. */
    *ppxIdleTaskStackBuffer = uxIdleTaskStack;

    /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
     * Note that, as the array is necessarily of type StackType_t,
     * configMINIMAL_STACK_SIZE is specified in words, not bytes. */
    *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}

/*-----------------------------------------------------------*/

/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
 * application must provide an implementation of vApplicationGetTimerTaskMemory()
 * to provide the memory that is used by the Timer service task. */
void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
                                     StackType_t ** ppxTimerTaskStackBuffer,
                                     configSTACK_DEPTH_TYPE * pulTimerTaskStackSize )
{
    /* If the buffers to be provided to the Timer task are declared inside this
     * function then they must be declared static - otherwise they will be allocated on
     * the stack and so not exists after this function exits. */
    static StaticTask_t xTimerTaskTCB;

    /* Pass out a pointer to the StaticTask_t structure in which the Timer
     * task's state will be stored. */
    *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;

    /* Pass out the array that will be used as the Timer task's stack. */
    *ppxTimerTaskStackBuffer = uxTimerTaskStack;

    /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
     * Note that, as the array is necessarily of type StackType_t,
     * configMINIMAL_STACK_SIZE is specified in words, not bytes. */
    *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
}

/*-----------------------------------------------------------*/

void handle_sigint( int signal )
{
    int xReturn;

    ( void ) signal;

    xReturn = chdir( BUILD ); /* Changing dir to place gmon.out inside build. */

    if( xReturn == -1 )
    {
        printf( "chdir into %s error is %d\n", BUILD, errno );
    }

    _exit( 2 );
}

/*-----------------------------------------------------------*/

static uint32_t ulEntryTime = 0;

void vTraceTimerReset( void )
{
    ulEntryTime = xTaskGetTickCount();
}

/*-----------------------------------------------------------*/

uint32_t uiTraceTimerGetFrequency( void )
{
    return configTICK_RATE_HZ;
}

/*-----------------------------------------------------------*/

uint32_t uiTraceTimerGetValue( void )
{
    return( xTaskGetTickCount() - ulEntryTime );
}

/*-----------------------------------------------------------*/